version: 66.08
glider: 166
mission: 3
dive: 393
start: 10 27 110 15 51 50
data:
$ID,166
$MISSION,3
$DIVE,393
$N_DIVES,404
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22049.949
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,271010,154334,2236.555,12622.642,10,99.0,29,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-56.0
$GPS2,271010,155128,2236.449,12622.606,40,99.0,59,-3.2
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,189.5,143453,-19.7,-13.889
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,137,0.00,0.00,-117.50,0.000,2,0.000,0.000,137,1754,3320,0,0,0,0,0,0
$GC,140,-1.16,-214.1,5.1,-8.6,16,171,9.40,2.25,-12.40,0.000,4,0.236,0.060,2446,3196,3948,0,0,0,0,0,0
$GC,369,-0.99,-214.1,94.7,-30.3,57,378,0.22,2.12,0.00,0.000,6,0.163,0.037,2514,1806,3952,0,0,0,0,0,0
$GC,702,-0.88,-214.1,178.3,-21.9,118,712,0.15,2.22,0.00,0.000,4,0.174,0.050,2556,390,3954,0,0,0,0,0,0
$GC,852,-0.85,-214.1,206.6,-16.9,143,858,0.00,2.12,0.00,0.000,6,0.000,0.044,2548,1787,3955,0,0,0,0,0,0
$GC,1192,-0.81,-214.1,270.9,-19.6,204,1201,0.10,2.20,0.00,0.000,4,0.190,0.050,2573,398,3955,0,0,0,0,0,0
$GC,1248,-0.85,-214.1,281.2,-16.5,213,1255,0.00,2.15,0.00,0.000,6,0.000,0.045,2570,1803,3955,0,0,0,0,0,0
$GC,1584,-0.85,-214.1,333.1,-14.6,254,1588,0.00,2.17,0.00,0.000,4,0.000,0.050,2570,386,3955,0,0,0,0,0,0
$GC,1611,-0.85,-214.1,337.1,-14.3,256,1619,0.00,2.17,0.00,0.000,6,0.000,0.044,2560,1796,3955,0,0,0,0,0,0
$GC,1938,-0.85,-214.1,384.5,-14.3,287,1942,0.00,2.15,0.00,0.000,4,0.000,0.050,2560,392,3953,0,0,0,0,0,0
$GC,1972,-0.85,-214.1,389.8,-15.0,290,1976,0.00,2.15,0.00,0.000,6,0.000,0.046,2558,1810,3953,0,0,0,0,0,0
$GC,2297,-0.85,-214.1,435.3,-13.3,320,2301,0.00,2.12,0.00,0.000,4,0.000,0.050,2548,3221,3952,0,0,0,0,0,0
$GC,2341,-0.90,-214.1,441.0,-11.8,323,2348,0.00,2.12,0.00,0.000,6,0.000,0.036,2548,1793,3951,0,0,0,0,0,0
$GC,2666,-0.90,-214.1,486.1,-14.3,354,2670,0.00,2.15,0.00,0.000,4,0.000,0.052,2548,394,3949,0,0,0,0,0,0
$GC,2732,-0.92,-214.1,496.1,-15.2,359,2739,0.00,2.15,0.00,0.000,6,0.000,0.046,2545,1811,3949,0,0,0,0,0,0
$GC,3058,-0.92,-214.1,543.6,-14.3,390,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1811,3947,0,0,0,0,0,0
$GC,3379,-0.93,-214.1,587.7,-13.3,420,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1811,3945,0,0,0,0,0,0
$GC,3702,-0.95,-214.1,630.7,-13.4,440,3706,0.00,2.20,0.00,0.000,4,0.000,0.054,2545,396,3941,0,0,0,0,0,0
$GC,3736,-0.97,-214.1,636.0,-14.1,441,3742,0.00,2.17,0.00,0.000,6,0.000,0.046,2538,1802,3941,0,0,0,0,0,0
$GC,4052,-0.99,-214.1,678.2,-13.3,457,4056,0.00,2.15,0.00,0.000,4,0.000,0.055,2530,3209,3938,0,0,0,0,0,0
$GC,4072,-1.01,-214.1,680.6,-13.1,458,4076,0.00,2.12,0.00,0.000,6,0.000,0.039,2530,1790,3938,0,0,0,0,0,0
$GC,4400,-1.01,-214.1,725.5,-13.9,474,4404,0.00,2.17,0.00,0.000,4,0.000,0.055,2530,389,3935,0,0,0,0,0,0
$GC,4479,-1.03,-214.1,736.8,-13.7,477,4486,0.00,2.20,0.00,0.000,6,0.000,0.049,2523,1806,3933,0,0,0,0,0,0
$GC,4795,-1.03,-214.1,781.2,-13.9,493,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1806,3931,0,0,0,0,0,0
$GC,5105,-1.03,-214.1,821.5,-12.5,508,5109,0.00,2.22,0.00,0.000,4,0.000,0.055,2524,395,3928,0,0,0,0,0,0
$GC,5168,-1.03,-214.1,829.7,-13.0,510,5175,0.00,2.17,0.00,0.000,6,0.000,0.049,2519,1805,3927,0,0,0,0,0,0
$GC,5484,-1.03,-214.1,869.4,-12.7,526,5488,0.00,2.22,0.00,0.000,4,0.000,0.056,2521,391,3924,0,0,0,0,0,0
$GC,5535,-1.03,-214.1,876.2,-13.0,528,5539,0.00,2.20,0.00,0.000,6,0.000,0.054,2517,1800,3924,0,0,0,0,0,0
$GC,5857,-1.01,-214.1,920.0,-13.8,544,5861,0.00,2.25,0.00,0.000,4,0.000,0.057,2517,388,3921,0,0,0,0,0,0
$GC,5906,-1.01,-214.1,927.6,-14.2,546,5910,0.00,2.20,0.00,0.000,6,0.000,0.051,2508,1808,3921,0,0,0,0,0,0
$GC,6230,-0.98,-214.1,974.6,-14.8,562,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1808,3918,0,0,0,0,0,0
$STATE,6412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6412,begin apogee
$GC,6418,-0.23,0.0,1001.8,14.6,571,6609,0.80,0.00,183.82,1.439,6,0.140,0.000,2758,1740,3072,0,0,0,0,0,0
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6610,begin climb
$GC,6613,1.16,214.1,1009.2,0.0,580,6822,1.30,0.00,202.05,1.378,6,0.053,0.000,3213,1740,2199,0,0,0,0,0,0
$GC,7132,0.84,214.1,878.0,31.3,605,7137,0.35,2.25,0.00,0.000,4,0.211,0.054,3110,3169,2192,0,0,0,0,0,0
$GC,7174,0.64,214.1,866.4,24.8,607,7179,0.25,2.17,0.00,0.000,6,0.181,0.044,3052,1747,2191,0,0,0,0,0,0
$GC,7504,0.54,214.1,808.1,17.4,623,7505,0.12,0.00,0.00,0.000,6,0.181,0.000,3018,1747,2189,0,0,0,0,0,0
$GC,7811,0.50,214.1,763.2,14.5,638,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1747,2188,0,0,0,0,0,0
$GC,8122,0.45,214.1,718.7,14.3,653,8124,0.10,0.00,0.00,0.000,6,0.184,0.000,2991,1747,2188,0,0,0,0,0,0
$GC,8429,0.55,297.0,684.7,10.3,668,8509,0.00,0.00,74.75,1.231,6,0.000,0.000,2991,1747,1860,0,0,0,0,0,0
$GC,8821,0.66,364.4,642.9,11.0,687,8889,0.17,2.33,61.15,1.191,4,0.076,0.057,3085,340,1586,0,0,0,0,0,0
$GC,8904,0.59,364.4,628.4,19.3,691,8909,0.20,2.22,0.00,0.000,6,0.165,0.043,3030,1746,1585,0,0,0,0,0,0
$GC,9224,0.59,364.4,576.9,15.9,713,9228,0.00,2.17,0.00,0.000,4,0.000,0.053,3024,3172,1580,0,0,0,0,0,0
$GC,9287,0.62,364.4,567.7,14.0,718,9291,0.00,2.17,0.00,0.000,6,0.000,0.042,3033,1748,1579,0,0,0,0,0,0
$GC,9612,0.62,364.4,516.2,16.2,748,9616,0.00,2.17,0.00,0.000,4,0.000,0.055,3043,349,1579,0,0,0,0,0,0
$GC,9652,0.62,364.4,509.6,16.2,751,9656,0.00,2.15,0.00,0.000,6,0.000,0.041,3043,1763,1576,0,0,0,0,0,0
$GC,9979,0.60,364.4,455.3,16.7,781,9983,0.00,2.12,0.00,0.000,4,0.000,0.050,3043,3168,1576,0,0,0,0,0,0
$GC,10024,0.62,364.4,447.8,15.1,784,10032,0.00,2.17,0.00,0.000,6,0.000,0.041,3051,1755,1575,0,0,0,0,0,0
$GC,10351,0.60,364.4,395.8,16.4,815,10355,0.00,2.17,0.00,0.000,4,0.000,0.054,3062,344,1575,0,0,0,0,0,0
$GC,10382,0.58,364.4,390.6,16.7,817,10387,0.12,2.12,0.00,0.000,6,0.161,0.039,3029,1756,1575,0,0,0,0,0,0
$GC,10709,0.62,367.6,344.6,13.8,847,10713,0.00,2.10,0.00,0.000,4,0.000,0.047,3028,3155,1575,0,0,0,0,0,0
$GC,10732,0.66,372.6,341.1,13.7,848,10743,0.00,2.15,6.62,0.793,6,0.000,0.038,3036,1746,1552,0,0,0,0,0,0
$GC,11065,0.70,391.1,296.1,13.1,882,11087,0.00,0.00,18.35,0.891,6,0.000,0.000,3036,1746,1476,0,0,0,0,0,0
$GC,11424,0.82,440.2,252.7,11.8,945,11480,0.17,2.25,43.85,0.867,4,0.070,0.051,3140,349,1277,0,0,0,0,0,0
$GC,11545,0.75,440.2,227.4,23.6,964,11554,0.15,2.17,0.00,0.000,6,0.138,0.038,3087,1754,1276,0,0,0,0,0,0
$GC,11893,0.75,440.2,169.4,14.2,1025,11900,0.00,2.20,0.00,0.000,4,0.000,0.052,3088,342,1275,0,0,0,0,0,0
$GC,11941,0.77,440.2,161.5,15.8,1033,11948,0.00,2.10,0.00,0.000,6,0.000,0.037,3088,1743,1275,0,0,0,0,0,0
$GC,12274,0.86,487.1,117.4,11.9,1094,12322,0.00,2.17,40.33,0.737,4,0.000,0.044,3088,3163,1086,0,0,0,0,0,0
$GC,12343,0.96,525.4,109.0,12.2,1103,12382,0.12,2.20,33.97,0.716,6,0.041,0.038,3175,1746,930,0,0,0,0,0,0
$GC,12703,0.91,525.4,32.1,19.8,1168,12712,0.15,2.20,0.00,0.000,4,0.166,0.053,3143,353,927,0,0,0,0,0,0
$GC,12741,0.91,525.4,25.8,16.8,1174,12750,0.00,2.12,0.00,0.000,6,0.000,0.034,3137,1755,926,0,0,0,0,0,0
$STATE,12922,end climb,SURFACE_DEPTH_REACHED
$STATE,12922,begin surface coast
$FINISH,0.8,1.014704
$STATE,12961,end surface coast,CONTROL_FINISHED_OK
$STATE,12961,begin surface
$SM_CCo,13038,0.00,0.000,0,0,925,526.66
$SM_GC,1.42,7.72,0.00,0.00,0.039,0.000,0.000,148,1761,925,-8.33,-1.10,526.66
$IRIDIUM_FIX,2227.67,12621.38,271010,121225
$TT8_MAMPS,0.026215
$HUMID,42.75
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.90
$XPDR_PINGS,84
$24V_AH,22.2,71.502
$10V_AH,10.2,46.273
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.625,104.600,664.900,0.000,0.000,30.317,22.252,197.590,21.000,0.000,61.682,2959.310,6476.020,709.116,2943.852,409.641,0.000,1864.457,0.000,2656.933,0.000,0.845,0.000
$DEVICE_MAMPS,236.385,97.920,1438.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.150,1040.372,1379.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333808
$DATA_FILE_SIZE,73554,1214
$CAP_FILE_SIZE,141615,0
$CFSIZE,260165632,157032448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,236.3,1
$GPS,271010,193036,2234.303,12622.489,40,1.2,52,-3.2